Abstract
Capsule endoscopy is used to examine the gastrointestinal tract, primarily the small intestines. The transformation of endoscopic capsules from passive to active systems, will save resources and make capsule endoscopy more applicable. An active endoscopic capsule wants to integrate the possibility for biopsy and smaller gastrointestinal surgeries. For this to be achievable, the robot pill needs a well-working propulsion system. This thesis work aims to optimize a design for optimum propulsion and realize a prototype. The analysis of the different propulsion systems, researched within this scientific field, shows that the two main groups of systems are expanding and non-expanding design. Expanding systems use features to expand their body, to anchor themselves in the intestinal walls, before they achieve propulsion. To stay within the limits of size and power of an in vivo system, this study focuses on the non-expanding systems. The result is a single actuated, wheeled design. The prototype performed very promising in the propulsion testing. However, some problems with the testing environment, and diameter of the intestine specimen, prevents this study to draw an indisputable conclusion onto whether the resulting propulsion system is the optimum. But the results and space efficient design is a reliable alternative for robot pills. With some further testing, it is reasonable to believe that this system will have an impact on future endoscopic capsules.